Best practice for customizing .rviz file MoveIt! Setup Assistant creates

asked 2014-05-01 23:47:32 -0500

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updated 2014-05-02 12:22:08 -0500

Often we keep updating robot's moveit_config package by using MoveIt! Setup Assistant that auto-generates config file for RViz customized for MoveIt!. Now, I like to add other configurations to that generated .rviz file [1] but manually applying the changes every time after I ran Setup Assistant is tedious and error-prone. What's the best practice here?

I thought if nesting from .rviz file to another could be a possible option; that might be the least cumbersome (though I still have to add change manually, or need to write automation) but don't know if .rviz file allows that (considering it's simple yaml). Or is it worth opening a ticket to Setup Assistant?

[1] Say, add other rviz plugin like MarkerArray then choose specific marker topic.

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